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<div class="title">priority_tasks.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;priority_tasks.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keywordtype">void</span> PriorityTasks::addTask(<span class="keyword">const</span> <span class="keywordtype">char</span>* name) {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    taskLib.emplace_back(name);</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    taskLib.back().id=(int)(taskLib.size())-1;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    nameList.emplace_back(name);</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;}</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keywordtype">int</span> PriorityTasks::getId(<span class="keyword">const</span> std::string &amp;name) {</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nameList.size(); ++i) {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        <span class="keywordflow">if</span> (nameList[i]==name) {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;            <span class="keywordflow">return</span> i;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        }</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    }</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;}</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keywordtype">int</span> PriorityTasks::getId(<span class="keyword">const</span> <span class="keywordtype">char</span>* name){</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nameList.size(); ++i) {</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <span class="keywordflow">if</span> (nameList[i]==name) {</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;            <span class="keywordflow">return</span> i;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        }</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    }</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    printf(<span class="stringliteral">&quot;Cannot find wbc task: %s !\n&quot;</span>, name);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keywordtype">void</span> PriorityTasks::buildPriority(<span class="keyword">const</span> std::vector&lt;std::string&gt; &amp;taskOrder) {</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    startId= getId(taskOrder[0]);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;taskOrder.size();i++)</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    {</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        <span class="keywordtype">int</span> idCur= getId(taskOrder[i]);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keywordflow">if</span> (i==0)</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;            taskLib[idCur].parentId=-1;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;            <span class="keywordtype">int</span> idBef= getId(taskOrder[i-1]);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;            taskLib[idCur].parentId=idBef;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        }</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keywordflow">if</span> (i==taskOrder.size()-1)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;            taskLib[idCur].childId=-1;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;            <span class="keywordtype">int</span> idNxt= getId(taskOrder[i+1]);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;            taskLib[idCur].childId=idNxt;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    }</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">void</span> PriorityTasks::printTaskInfo() {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;taskLib.size();i++)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        printf(<span class="stringliteral">&quot;-------------\n&quot;</span>);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        printf(<span class="stringliteral">&quot;taskName=%s\n&quot;</span>,taskLib[i].taskName.c_str());</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        printf(<span class="stringliteral">&quot;parentId=%d, childId=%d\n&quot;</span>,taskLib[i].parentId,taskLib[i].childId);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keywordtype">void</span> PriorityTasks::computeAll(<span class="keyword">const</span> Eigen::VectorXd &amp;des_delta_q,<span class="keyword">const</span> Eigen::VectorXd &amp;des_dq, <span class="keyword">const</span> Eigen::VectorXd &amp;des_ddq, <span class="keyword">const</span> Eigen::MatrixXd &amp;dyn_M, <span class="keyword">const</span> Eigen::MatrixXd &amp;dyn_M_inv, <span class="keyword">const</span> Eigen::VectorXd &amp;dq) {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">int</span> curId=startId;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">int</span> parentId=taskLib[curId].parentId;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">int</span> childId=taskLib[curId].childId;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;taskLib.size();i++)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordflow">if</span> (parentId==-1){</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            taskLib[curId].N=Eigen::MatrixXd::Identity(taskLib[curId].J.cols(),taskLib[curId].J.cols());</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            taskLib[curId].Jpre=taskLib[curId].J*taskLib[curId].N;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            taskLib[curId].delta_q=des_delta_q+ pseudoInv_right_weighted(taskLib[curId].Jpre,taskLib[curId].W)*taskLib[curId].errX;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;            taskLib[curId].dq=des_dq;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            Eigen::VectorXd ddxcmd= taskLib[curId].ddxDes + taskLib[curId].kp * taskLib[curId].errX+taskLib[curId].kd*taskLib[curId].derrX;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;            taskLib[curId].ddq= des_ddq + dyn_pseudoInv(taskLib[curId].Jpre,dyn_M_inv,<span class="keyword">true</span>) * (ddxcmd - taskLib[curId].J * dq);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">//            std::cout&lt;&lt;taskLib[curId].taskName&lt;&lt;std::endl&lt;&lt;taskLib[curId].delta_q.transpose()&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            taskLib[curId].N=taskLib[parentId].N*</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                    (Eigen::MatrixXd::Identity(taskLib[parentId].Jpre.cols(),taskLib[parentId].Jpre.cols())- pseudoInv_right_weighted(taskLib[parentId].Jpre,taskLib[parentId].W)*taskLib[parentId].Jpre);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            taskLib[curId].Jpre=taskLib[curId].J*taskLib[curId].N;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            taskLib[curId].delta_q=taskLib[parentId].delta_q+ pseudoInv_right_weighted(taskLib[curId].Jpre,taskLib[curId].W)*(taskLib[curId].errX-</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                    taskLib[curId].J*taskLib[parentId].delta_q);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            taskLib[curId].dq=taskLib[parentId].dq+ pseudoInv_right_weighted(taskLib[curId].Jpre,taskLib[curId].W)*(taskLib[curId].dxDes-</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                    taskLib[curId].J*taskLib[parentId].dq);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            Eigen::VectorXd ddxcmd= taskLib[curId].ddxDes + taskLib[curId].kp * taskLib[curId].errX+taskLib[curId].kd*taskLib[curId].derrX;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            taskLib[curId].ddq= taskLib[parentId].ddq + dyn_pseudoInv(taskLib[curId].Jpre,dyn_M_inv,<span class="keyword">true</span>) *</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                                        (ddxcmd-taskLib[curId].dJ*dq-taskLib[curId].J*taskLib[parentId].ddq);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">//            std::cout&lt;&lt;taskLib[curId].taskName&lt;&lt;std::endl&lt;&lt;taskLib[curId].delta_q.transpose()&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment">//        printf(&quot;task: %s\n&quot;, taskLib[curId].taskName.c_str());</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">//        Eigen::FullPivLU&lt;Eigen::MatrixXd&gt; lu_decomp(taskLib[curId].Jpre);</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">//        printf(&quot;taskJacobian rank: %d, rows: %d\n&quot;, lu_decomp.rank(), taskLib[curId].Jpre.rows());</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordflow">if</span> (childId!=-1){</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            parentId=curId;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            curId=childId;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            childId=taskLib[curId].childId;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    out_delta_q=taskLib[curId].delta_q;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    out_dq=taskLib[curId].dq;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    out_ddq=taskLib[curId].ddq;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
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